CN109662869B - Wearable flexible lower limb power-assisted robot - Google Patents
Wearable flexible lower limb power-assisted robot Download PDFInfo
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- CN109662869B CN109662869B CN201910052447.6A CN201910052447A CN109662869B CN 109662869 B CN109662869 B CN 109662869B CN 201910052447 A CN201910052447 A CN 201910052447A CN 109662869 B CN109662869 B CN 109662869B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 30
- 210000000629 knee joint Anatomy 0.000 claims abstract description 59
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 56
- 230000005021 gait Effects 0.000 claims abstract description 9
- 210000002683 foot Anatomy 0.000 claims abstract description 5
- 210000003423 ankle Anatomy 0.000 claims description 61
- 210000003127 knee Anatomy 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 claims description 36
- 210000000689 upper leg Anatomy 0.000 claims description 27
- 210000002414 leg Anatomy 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 4
- 230000017525 heat dissipation Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 208000016285 Movement disease Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Physiology (AREA)
- Pathology (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical rehabilitation training equipment, in particular to a wearable flexible lower limb power-assisted robot. The device comprises a driving part, a bowden wire I, a bowden wire II, a knee joint part, an ankle joint part and an inertial sensor, wherein the driving part is respectively connected with the knee joint part and the ankle joint part through the bowden wire I and the bowden wire II, the driving part, the knee joint part and the ankle joint part are respectively fixed at the back, the knee joint and the ankle joint of a wearer, the driving part transmits power to the knee joint part and the ankle joint part through the bowden wire I and the bowden wire II respectively to drive the knee joint and the ankle joint of the wearer to move, and the inertial sensor is arranged on the foot of the wearer and is used for collecting gait information of the wearer. The invention has the advantages of relatively compact structure, small volume, good fit with human body, light weight, small walking interference to human body and relatively independent parts, and can meet the requirements of different users.
Description
Technical Field
The invention relates to medical rehabilitation training equipment, in particular to a wearable flexible lower limb power-assisted robot.
Background
Aiming at patients with lower limb movement disorder and the situations that gait rehabilitation or walking assistance is needed in certain environments, the lower limb assistance robot can be utilized to perform relevant rehabilitation training and walking assistance on all joints of lower limbs of a human body. Wherein, the lower limb patient needs to perform lower limb rehabilitation to recover lower limb strength and activity capability; the old people or other people needing to assist the pedestrians need to assist the joints of the lower limbs so as to meet the basic walking requirements of walking, loading and the like.
For lower limb rehabilitation training, the existing rehabilitation means still takes the manual training of a rehabilitation therapist as the main part, and the lower limb rehabilitation robot can perform repeated movements for a long time, and the lower limb rehabilitation robot is used for assisting a patient in training, so that the working strength of the rehabilitation therapist can be greatly reduced, the cost is reduced, and the rehabilitation efficiency is greatly improved.
For the old people or other people needing walking assistance, the lower limb exercise is assisted, so that the walking speed, the load and the flexibility can be improved, and the basic exercise capacity of the old people or other people needing walking assistance can be improved.
The existing lower limb power assisting equipment is large in size, large in mass, single in function and complex in power system, and cannot meet the use requirements. And the lower limb power assisting equipment is mostly composed of rigid structural members, so that the flexibility is poor, the wearing property is poor, the man-machine interaction is poor, and great interference can be generated to a user during operation.
Disclosure of Invention
Aiming at the problems, the invention aims to provide the wearable flexible lower limb assisting robot which can provide lower limb movement assistance for patients with lower limb movement disorder and people needing walking assistance so as to meet the use needs of different users in different environments.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a wearing formula flexible low limbs helping hand robot, includes drive division, bowden line I, bowden line II, knee joint part, ankle joint part and inertial sensor, wherein drive division is connected with knee joint part and ankle joint part respectively through bowden line I and bowden line II, drive division, knee joint part and ankle joint part are fixed in the back of wearer respectively, knee joint and ankle joint department, drive division passes through bowden line I and bowden line II and transmits to knee joint part and ankle joint part respectively with power, drives the knee joint and the ankle joint motion of wearer, inertial sensor sets up in the foot of wearer for gather the wearer gait information.
The driving part comprises a driving shell, and a knee joint driving mechanism, an ankle joint driving mechanism, a driving plate and a control unit which are accommodated in the driving shell, wherein the knee joint driving mechanism, the ankle joint driving mechanism and the control unit are all arranged on the driving plate, the knee joint driving mechanism is connected with a Bowden wire I, the ankle joint driving mechanism is connected with a Bowden wire II, and the control unit is used for controlling the knee joint driving mechanism and the ankle joint driving mechanism.
The knee joint driving mechanism and the ankle joint driving mechanism comprise a motor, a wire binding frame, a motor support, a wire wheel and a wire binding flange, wherein the motor is arranged on the driving plate through the motor support, the wire wheel is arranged at the output end of the motor, the wire binding frame is arranged on the motor support, the wire binding flange is arranged at the lower end of the wire binding frame, one ends of outer wires of the bowden wires I and the bowden wires II are fixed on the wire binding flange, and one end of an inner wire is connected with the wire wheel.
The control unit comprises a controller board, a controller and a driver, wherein the controller board is arranged on the driver board, and the controller and the driver are arranged on the controller board.
The driving part also comprises a battery arranged on the driving shell, the battery is used for supplying power to the knee joint driving mechanism, the ankle joint driving mechanism and the control unit, and the driving shell is provided with a heat dissipation grid and heat dissipation fans arranged on two sides.
The knee joint part comprises a shank fixing plate, a knee mandrel, a thigh fixing plate, a knee wheel, a bearing, a potentiometer I, a potentiometer long shell, a long shaft end cover, a shank fixing seat and a thigh fixing seat, wherein the knee mandrel is connected to the thigh fixing plate, an inner ring of the bearing is connected to the knee mandrel, an outer ring of the bearing is connected to the knee wheel, the long shaft end cover is fixed to the thigh fixing plate to prevent the knee mandrel from falling out, the potentiometer I and the potentiometer long shell are fixed at the tail end of the knee mandrel, the shank fixing plate is connected with the knee wheel, the shank fixing seat is connected with the shank fixing plate, and the thigh fixing seat is connected with the thigh fixing plate.
The outer line of the bowden cable I is fixed on the thigh fixing seat, and the inner line is connected with the knee wheel.
The knee wheel is provided with a mechanical limiting groove, so that the rotation angle of the knee wheel can be limited.
The ankle joint part comprises leg fixing seats, tension sensors, ankle straight rods, ankle side rods, soles, ground beams, ankle spindles, potentiometer short shells, potentiometers II and rear beams, wherein two ends of the leg fixing seats are respectively connected with one ankle straight rod, the lower ends of the ankle straight rods are hinged with one ankle side rod through the ankle spindles, the tail ends of the ankle spindles are provided with the potentiometers II, the outer sides of the potentiometers II are provided with the potentiometer short shells, the lower ends of the two ankle side rods are connected with the ground beams, the ground beams are provided with soles, the upper end rear sides of the two ankle side rods are connected with the rear beams, the rear beams are connected with tension sensors, and the outer line of each bowden line II is connected with the leg fixing seats, and the inner line is connected with the tension sensors.
The ankle side rod is provided with a mechanical limit groove, so that the rotation angle of the ankle side rod can be limited.
The invention has the advantages and positive effects that:
1. the motor driving part is arranged near the center of gravity of the trunk of a wearer, has lighter weight and has smaller additional moment to the human body. The mass of the knee joint part and the ankle joint part which are positioned at the tail ends of the limbs is very small, and the movement of a person is not hindered.
2. The tension sensor, the inertia sensor and the potentiometer can measure physiological and kinematic information such as force, joint angle, gait cycle and the like in the real-time motion process, and utilize the tension sensor, the inertia sensor and the potentiometer to realize multiple power-assisted modes of double joints.
3. The part of the invention, which is in contact with the human body, is made of flexible fabric and weak-rigidity 3D printing material, is tightly and lightly attached to the human body, and has little influence on the wearer.
4. The invention adopts the bowden cable transmission, can transmit power to the tail end of the limb, has negligible weight, has intrinsic flexibility and does not add extra inertia to the tail end of the limb.
5. The invention can carry out rehabilitation and power assisting on the knee joint and the ankle joint of the lower limb, can be used for a single joint, can carry out cooperative power assisting on double joints, and provides diversified rehabilitation power assisting strategies according to different user requirements.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
fig. 2 is a schematic structural view of a driving portion of the present invention;
FIG. 3 is a schematic view of the drive section of the present invention with the housing removed;
fig. 4 is an exploded view of the driving part of the present invention;
FIG. 5 is a schematic view of the knee joint portion of the present invention;
FIG. 6 is an exploded view of the knee joint portion of the present invention;
FIG. 7 is a schematic view of the structure of an ankle portion of the present invention;
fig. 8 is an exploded view of an ankle portion of the present invention.
In the figure: 1 is a driving part, 2 is a bowden wire I, 3 is a knee joint part, 4 is an ankle joint part, 5 is an inertial sensor, 6 is a bowden wire II, 11 is a brace, 12 is a driving plate, 13 is a wire harness frame, 14 is a motor support, 15 is a wire wheel, 16 is a controller plate, 17 is a wire harness flange, 18 is a controller, 19 is a driver, 20 is a driving shell, 21 is a motor I, 22 is a battery, 23 is a motor II, 30 is a shank fixing plate, 31 is a knee spindle, 32 is a thigh fixing plate, 33 is a knee wheel, 34 is a bearing, 35 is a potentiometer I, 36 is a potentiometer long shell, 37 is a long shaft end cover, 38 is a shank fixing seat, 39 is a thigh fixing seat, 50 is a leg fixing seat, 51 is a tension sensor, 52 is an ankle straight rod, 53 is an ankle side rod, 54 is a sole, 55 is a ground beam, 56 is a shank spindle, 57 is a shaft sleeve, 58 is a shaft end cover, 59 is a potentiometer short shell, 60 is a potentiometer II, 61 is a rear beam.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the wearable flexible lower limb power-assisted robot provided by the invention comprises a driving part 1, a bowden wire i 2, a bowden wire ii 6, a knee joint part 3, an ankle joint part 4 and an inertial sensor 5, wherein the driving part 1 is respectively connected with the knee joint part 3 and the ankle joint part 4 through the bowden wire i 2 and the bowden wire ii 6, the driving part 1, the knee joint part 3 and the ankle joint part 4 are respectively fixed at the back, the knee joint and the ankle joint of a wearer, the driving part 1 transmits power to the knee joint part 3 and the ankle joint part 4 through the bowden wire i 2 and the bowden wire ii 6 to drive the knee joint and the ankle joint of the wearer to move, and the inertial sensor 5 is arranged on the foot of the wearer and is used for acquiring gait information of the wearer.
As shown in fig. 2 to 4, the driving part 1 comprises a driving housing 20, and a knee joint driving mechanism, an ankle joint driving mechanism, a driving plate 12 and a control unit which are accommodated in the driving housing 20, wherein the knee joint driving mechanism, the ankle joint driving mechanism and the control unit are all arranged on the driving plate 12, the knee joint driving mechanism is connected with a bowden wire i 2, the ankle joint driving mechanism is connected with a bowden wire ii 6, and the control unit is used for controlling the knee joint driving mechanism and the ankle joint driving mechanism.
The knee joint driving mechanism and the ankle joint driving mechanism comprise a motor, a wire binding frame 13, a motor support 14, a wire wheel 15 and a wire binding flange 17, wherein the motor is arranged on the driving plate 12 through the motor support 14, the wire wheel 15 is arranged at the output end of the motor, the wire binding frame 13 is arranged on the motor support 14, the wire binding flange 17 is arranged at the lower end of the wire binding frame, one ends of outer wires of a bowden wire I2 and a bowden wire II 6 are fixed on the wire binding flange 17, and one end of an inner wire is connected with the wire wheel 15.
The control unit comprises a controller board 16, a controller 18 and a driver 19, wherein the controller board 16 is arranged on the driver board 12, and the controller 18 and the driver 19 are arranged on the controller board 16.
The driving part 1 further comprises a battery 22 arranged on the driving housing 20, the battery 22 being fixed above the driving housing 20 for powering the control unit and the motors i 21 and ii 23 in the knee joint driving mechanism and the ankle joint driving mechanism. The driving housing 20 is provided with a heat dissipation grid and heat dissipation fans arranged at two sides.
The motor I21 and the motor II 23 respectively drive the wire wheel 15 connected with the motor I and the motor II to rotate, so that the inner wires of the Bowden wires I2 and the Bowden wires II 6 are driven. Wherein the wire harness flange 17 and the wire harness frame 13 fixed on the driving plate 12 ensure the motion trail of the bowden wires I2 and II 6 and the transmission direction of power, and the driving plate 12 is connected with the back belt 11.
As shown in fig. 5 to 6, the knee joint part 3 includes a shank fixing plate 30, a knee spindle 31, a thigh fixing plate 32, a knee wheel 33, a bearing 34, a potentiometer i 35, a potentiometer long housing 36, a long axis end cover 37, a shank fixing base 38, and a thigh fixing base 39, wherein the knee spindle 31 is connected to the thigh fixing plate 32, an inner ring of the bearing 34 is connected to the knee spindle 31, an outer ring is connected to the knee wheel 33, and the long axis end cover 37 is fixed to the thigh fixing plate 32 by a long bolt to prevent the knee spindle 31 from coming out. The potentiometer I35 and the potentiometer long housing 36 are fixed to the end of the knee spindle 31, the shank fixation plate 30 is connected to the knee wheel 33, the shank fixation plate 30 is connected to the shank fixation plate 38, and the thigh fixation plate 39 is connected to the thigh fixation plate 32.
The outer wire of the bowden cable i 2 is fixed to the thigh-fixed seat 39, the inner wire is connected to the knee wheel 33, and the knee wheel 33 is provided with a mechanical limit groove, which limits the rotation angle of the knee wheel 33. When the motor I21 of the driving part 1 rotates, the knee wheel 33 of the knee joint part 3 rotates under the drive of the inner wire of the Bowden wire I2, so that the knee joint of the wearer is driven to stretch and bend.
As shown in fig. 7 to 8, the ankle joint part 4 comprises a leg fixing base 50, a tension sensor 51, ankle straight rods 52, ankle side rods 53, soles 54, ground beams 55, ankle spindles 56, potentiometer short shells 59, a potentiometer ii 60 and a rear beam 61, wherein two ends of the leg fixing base 50 are respectively connected with an ankle straight rod 52, the lower end of each ankle straight rod 52 is hinged with one ankle side rod 53 through the ankle spindle 56, the end of each ankle spindle 56 is provided with a potentiometer ii 60, the outer side of each potentiometer ii 60 is provided with the potentiometer short shell 59, the lower ends of the two ankle side rods 53 are connected with the ground beams 55, the ground beams 55 are provided with soles 54, the rear sides of the upper ends of the two ankle side rods 53 are connected with the rear beam 61, the rear beam 61 is connected with the tension sensor 51, the outer line of a bowden line ii 6 is connected with the leg fixing base 50, and the inner line is connected with the tension sensor 51.
The ankle side lever 53 is provided with a mechanical limit groove which can limit the rotation angle of the ankle side lever 53.
The ankle rod 52 of the ankle joint 4 is fixed to the leg fixing base 50 and can be further fixed to the ankle of the wearer. The ankle spindle 56 is connected to the ankle straight rod 52, and a sleeve 57, an ankle side rod 53, a shaft cover 58, a potentiometer ii 60, and a potentiometer short housing 59 are mounted on the ankle spindle 56 at a time. The ankle straight rod 52, the ankle side rod 53, the ankle mandrel 56, the shaft sleeve 57 and the shaft end cover 58 are respectively arranged on two sides. The middle is connected by a ground beam 55 and a rear beam 61. The ground beam 55 is provided with a magic tape fixing groove and a shoe sole 54, which can fix the foot of a wearer.
The leg fixing seat 50 is provided with an empty slot for fixing the outer line of the Bowden wire II 6, and the inner line of the Bowden wire II 6 is connected with the tension sensor 51. When the motor II 23 rotates, the tension sensor 51 and the back beam 61 of the ankle joint part 4 rotate relative to the ankle mandrel 56, and the ankle side rod 53 is driven to rotate around the ankle straight rod 52, so that the ankle joint of a wearer is driven to plantarflex.
Mechanical limiting grooves are formed on the knee wheel 33 of the knee joint part 3 and the ankle side lever 53 of the ankle joint part 4, so that the rotation angle of the knee wheel 33 and the ankle side lever 53 can be limited. The maximum angle allowed for extension of the knee joint is 5 ° and the maximum angle for flexion is 90 °; the ankle joint was allowed to plantarflex 25 deg., dorsi flexed 30 deg.. The maximum movable range of the knee joint and the ankle joint is ensured, and meanwhile, the injury to a wearer is avoided.
The leg fixing seat 38, the thigh fixing seat 39, the leg fixing seat 50, the ankle straight rod 52, the ankle side rod 53 and the ground beam 55 of the knee joint part 3 are all provided with fixing grooves, and are fixed with a wearer by using a magic tape so as to avoid relative movement.
According to the invention, gait information of a wearer is acquired through the inertial sensor 5, the tension sensor 51, the potentiometer I35 and the potentiometer II 60, the data are analyzed and processed through the controller 18, and the driver 19 controls the motor I21 and the motor II 23 to assist the knee joint and the ankle joint. The bowden line I2 and the bowden line II 6 are both composed of an inner line and an outer line, the inner line can move in a cavity of the outer line, and the transmission mode is that a motor rotates to tighten the inner line of the bowden line so as to drive the knee joint and the ankle joint to synchronously move, so that a power assisting effect is achieved.
Wherein the driving part 1 is carried on the back of the wearer by the back belt 11, and the driving part 1 is fixed on the waist so as to be as close to the gravity center of the human body as possible, thereby reducing the negative influence of the equipment on the walking process. The knee joint part 3 fixes the lower leg fixing plate 30 and the upper leg fixing plate 32 to the lower leg and the upper leg of the wearer by means of the lower leg fixing base 38 and the upper leg fixing base 39, respectively. Both the shank holder 38 and the thigh holder 39 are made of a weakly rigid 3D printing material, and are fitted to the skin of the human body, and the device is lighter and more comfortable to wear. The leg fixing base 50 of the ankle portion 4 is also 3D printed to fix the ankle portion 4 at the wearer's ankle.
The flexible robot acquires gait characteristics of a person through the inertial sensor 5, the tension sensor 51, the potentiometer I35 and the potentiometer II 60 so as to judge the physiological state and the movement intention of the wearer. Gait analysis is performed through the upper computer controller 18, on-line algorithm optimization is performed at the same time, a power assisting strategy is formulated, and instructions are sent to the motor for execution. Including modes of unidirectional (extension or flexion) assistance of the knee portion, bidirectional (extension and flexion) assistance of the knee portion, ankle plantar Qu Chuli, bi-articular cooperative assistance, and the like.
The invention is suitable for people with walking disorder or people needing walking assistance, including lower limb patients, old people and special-requirement people. The novel walking aid has the advantages of being relatively compact in structure, small in size, good in fit with a human body, light in weight, convenient to wear, small in walking interference on the human body, relatively independent in each part, capable of achieving a rehabilitation training function and a walking aid function, and capable of adjusting an aid mode according to specific requirements. The invention can meet the requirements of different users.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (7)
1. The wearable flexible lower limb power-assisted robot is characterized by comprising a driving part (1), a bowden wire I (2), a bowden wire II (6), a knee joint part (3), an ankle joint part (4) and an inertial sensor (5), wherein the driving part (1) is respectively connected with the knee joint part (3) and the ankle joint part (4) through the bowden wire I (2) and the bowden wire II (6), the driving part (1), the knee joint part (3) and the ankle joint part (4) are respectively fixed at the back, the knee joint and the ankle joint of a wearer, the driving part (1) respectively transmits power to the knee joint part (3) and the ankle joint part (4) through the bowden wire I (2) and the bowden wire II (6) to drive the knee joint and the ankle joint of the wearer to move, and the inertial sensor (5) is arranged at the foot of the wearer and is used for acquiring gait information of the wearer;
the knee joint part (3) comprises a shank fixing plate (30), a knee spindle (31), a thigh fixing plate (32), a knee wheel (33), a bearing (34), a potentiometer I (35), a potentiometer long shell (36), a long shaft end cover (37), a shank fixing seat (38) and a thigh fixing seat (39), wherein the knee spindle (31) is connected to the thigh fixing plate (32), an inner ring of the bearing (34) is connected to the knee spindle (31), an outer ring is connected to the knee wheel (33), the long shaft end cover (37) is fixed to the thigh fixing plate (32) to prevent the knee spindle (31) from falling out, the potentiometer I (35) and the potentiometer long shell (36) are fixed at the tail end of the knee spindle (31), the shank fixing plate (30) is connected with the knee wheel (33), the shank fixing seat (38) is connected with the shank fixing plate (30), and the thigh fixing seat (39) is connected with the thigh fixing plate (32);
the driving part (1) comprises a driving shell (20), and a knee joint driving mechanism, an ankle joint driving mechanism, a driving plate (12) and a control unit which are accommodated in the driving shell (20), wherein the knee joint driving mechanism, the ankle joint driving mechanism and the control unit are all arranged on the driving plate (12), the knee joint driving mechanism is connected with a bowden wire I (2), the ankle joint driving mechanism is connected with a bowden wire II (6), and the control unit is used for controlling the knee joint driving mechanism and the ankle joint driving mechanism;
the ankle joint part (4) comprises a leg fixing seat (50), a tension sensor (51), ankle straight rods (52), ankle side rods (53), soles (54), ground beams (55), ankle mandrels (56), potentiometer short shells (59), potentiometers II (60) and rear beams (61), wherein the two ends of the leg fixing seat (50) are respectively connected with one ankle straight rod (52), the lower ends of the ankle straight rods (52) are hinged with one ankle side rod (53) through the ankle mandrel (56), the tail ends of the ankle mandrel (56) are provided with potentiometers II (60), potentiometer short shells (59) are arranged on the outer sides of the potentiometers II (60), the lower ends of the two ankle side rods (53) are connected with the ground beams (55), the upper end rear sides of the two ankle side rods (53) are connected with the rear beams (61), the outer line of each ankle straight rod (52) is connected with the corresponding leg fixing seat (50), and the inner line is connected with the tension sensor (51).
2. The wearable flexible lower limb power-assisted robot according to claim 1, wherein the knee joint driving mechanism and the ankle joint driving mechanism comprise a motor, a wire binding frame (13), a motor support (14), a wire wheel (15) and a wire binding flange (17), wherein the motor is arranged on a driving plate (12) through the motor support (14), the wire binding frame (13) is arranged on the motor support (14), the wire binding flange (17) is arranged at the lower end of the wire binding frame, one end of the outer line of the bowden wire I (2) and one end of the outer line of the bowden wire II (6) are fixed on the wire binding flange (17), and one end of the inner line is connected with the wire binding flange (15).
3. The wearable flexible lower limb assist robot as claimed in claim 1, wherein the control unit comprises a controller board (16), a controller (18) and a driver (19), wherein the controller board (16) is disposed on the driver board (12), and the controller (18) and the driver (19) are disposed on the controller board (16).
4. The wearable flexible lower limb assist robot as claimed in claim 1, wherein the driving part (1) further comprises a battery (22) arranged on the driving housing (20), the battery (22) is used for supplying power to the knee joint driving mechanism, the ankle joint driving mechanism and the control unit, and a radiator grid and radiator fans arranged on two sides are arranged on the driving housing (20).
5. The wearable flexible lower limb assist robot as claimed in claim 1, characterized in that the outer line of the bowden cable i (2) is fixed on the thigh fixing base (39), and the inner line is connected with the knee wheel (33).
6. The wearable flexible lower limb assist robot as claimed in claim 1, wherein the knee wheel (33) is provided with a mechanical limit groove, which can limit the rotation angle of the knee wheel (33).
7. The wearable flexible lower limb assisting robot according to claim 1, wherein the ankle side lever (53) is provided with a mechanical limit groove, so that the rotation angle of the ankle side lever (53) can be limited.
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| CN112025680B (en) * | 2020-08-28 | 2021-12-03 | 华中科技大学 | Single-motor flexible power-assisted knee joint exoskeleton |
| CN112605982A (en) * | 2020-12-31 | 2021-04-06 | 洛阳尚奇机器人科技有限公司 | Flexible power-assisted garment for assisting in going upstairs |
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